Pool-Cleaning Robot Immobilization Detection via Wheel-Integrated Optical Sensor
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Solution Overview
Problem
Existing swimming pool cleaning robots face challenges with detection systems that are bulky, costly, and complex, particularly due to the need for additional wheels or high-power infrared transmitters, which can damage pool coatings and increase complexity and expense.
Innovation Solution
A compact detection system integrated with the displacement wheels, using a single infrared transceiver and target aligned with the light emission axis, allowing for efficient detection of immobilization without additional dedicated wheels, reducing size, cost, and complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mechanical contactor is used to detect vertical walls, then the robot can detect walls and modify movement, but the mechanical contactor damages the pool coating and increases system complexity
Solution Approach 1:
The patent replaces the mechanical contactor system with an optical detection system using a transmitter emitting light beams and a receiver detecting reflected light. This substitution eliminates mechanical contact between the robot and pool walls, preventing coating damage while maintaining reliable wall detection capability.
2Reliability
If an idler wheel detection system is used, then the robot can detect immobilization, but the system occupies large space and increases complexity
Solution Approach 1:
The patent merges the detection system with the existing displacement wheels by integrating the transmitter and receiver directly onto the robot body to detect wheel rotation. This eliminates the need for separate idler wheels and springs, significantly reducing system complexity and space occupation while maintaining immobilization detection capability.
Solution Approach 2:
The displacement wheels serve dual functions: both propelling the robot and providing the detection mechanism for immobilization. By making the wheels multi-functional, the patent eliminates dedicated detection components, reducing overall system complexity.
3Reliability
If infrared transmitters/receivers of high power are used to detect vertical walls, then the detection range is sufficient, but the cost increases significantly
Solution Approach 1:
The patent uses low-power infrared transmitters and receivers positioned close to each other, sufficient for detecting the robot's own wheel rotation. This partial action approach eliminates the need for high-power transmitters required for long-range wall detection, significantly reducing manufacturing cost while achieving the detection objective.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables faster and more efficient pool cleaning by detecting immobilization and modifying the robot's movement, while minimizing space and power consumption, and simplifying integration into the robot design.
Implementation Method 1
at least one target, integral with said train of moving wheels and aligned with said emission axis, adapted to reflect said light ray in order to detect a rotation of said train of moving wheels
Data Source
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AI summary
The invention relates to a pool-cleaning robot comprising a transport system that comprises at least one idle transport wheel train, a detritus suction system, and a system for detecting halting of said cleaning robot, the detection system comprising at least one transceiver of a light ray along an emission axis and at least one target that is secured to the transport wheel train, is aligned with said emission axis, and is suitable for reflecting said light ray so as to detect rotation of said transport wheel train.